CAJ | 학술논문

针对两种目前常用于椰子采摘的采摘方法—人工攀爬采摘和采摘机刀具切割采摘出现的劳动强度大、作业危险及效率低等问题设计了一种抓取采摘机械手。采摘机械手底座固定在椰子采摘机上，通过旋转功能组件实现采摘手抓的左右摆动，依靠气压升降、摆臂功能组件实现采摘手抓的升降和俯仰，利用机械手外手抓抓住果蒂，内手抓抓住椰子旋转采摘。为此，介绍了采摘机械手总体结构设计及工作原理，对其关键结构进行了建模，并进行了工作空间仿真分析。仿真结果表明：所设计的椰子采摘机械手工作点分布密集对称，满足工况需求，为进一步实际采摘实验提供了理论支撑。
침대량충목전상용우야자채적적채적방법—인공반파채적화채적궤도구절할채적출현적노동강도대、작업위험급효솔저등문제설계료일충조취채적궤계수。채적궤계수저좌고정재야자채적궤상，통과선전공능조건실현채적수조적좌우파동，의고기압승강、파비공능조건실현채적수조적승강화부앙，이용궤계수외수조조주과체，내수조조주야자선전채적。위차，개소료채적궤계수총체결구설계급공작원리，대기관건결구진행료건모，병진행료공작공간방진분석。방진결과표명：소설계적야자채적궤계수공작점분포밀집대칭，만족공황수구，위진일보실제채적실험제공료이론지탱。
Aimed at problems such as labor-intensive , operating hazards , low efficiency which appear on currently two methods used commonly in coconut picking-manpower climbing picking and picking machine tool cutting picking , de-signed a robot arm to crawl picking .The pedestal of robot arm is fixed on the coconut picker ,by rotating functional com-ponents to achieve picking hands's swing , relying on pneumatic lift and arm grasping picking functional components to a-chieve lift and pitch , using the robot arm ’ s outer hand claw to catch the base of fruit , and using the internal hand to catch the coconut for rotating picking .The article firstly describes the picking robot hand's overall structure designing and working principle ,then its key structures are established into a model , finally conducts a simulation analysis to its work space .Simulation results show that coconut picking manipulator operating point designed by the paper is densely distribu -ted symmetrically ,and meets the needs of working conditions , and provides theoretical support for the further actual pick-ing experiments .